Gripper with spinning means

ABSTRACT

A gripping device for gripping and spinning a pipe body of various diameters includes a gripping assembly having a pair of gripping arms for gripping the outer surface of the pipe body, and a spinning device having a pair of rollers for spinning the pipe body as it is engaged by gripping arms. The gripping device also includes a rotatable input shaft and a coupler. The coupler connects the rotatable input shaft to the gripping assembly and to the spinning device and is employed to selectively engage the gripping arms and the spinning device. A brake is provided so as to selectively prevent at least one of the gripping assembly and the spinning device from being operated upon rotating the rotatable input shaft.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is the U.S. National Stage entry under 35 U.S.C. § 371of International Patent Application No. PCT/NO2015/050232, filed Dec. 1,2015, and entitled “Gripper with spinning means,” which claims priorityto Application No. NO20141449, filed Dec. 2, 2014, all of which arehereby incorporated herein by reference in their entireties for allpurposes.

BACKGROUND

Handling of pipe bodies, such as pipes and so-called subs, crossovers,kelly cocks, bottom hole assemblies, etc., may be a challenge on a rigfloor. To connect or disconnect such pipe bodies from a pipe string itis today common to use a combination of manual work and machinery. Onemachine is typically used for lifting the pipe body while anothermachine is used to spin the pipe body so as to connect it to the drillstring. The involvement of two different machines makes the work timeconsuming and the involvement of manual work together with heavymachinery is a potential safety risk.

Grippers are known that combine gripping functionality with spinningfunctionality.

Some grippers from the prior art are disclosed in the following patentsand patent applications:

WO 2004/079147 A2;

US 2009/053014 A1;

US 2013/283589 A1; and

U.S. Pat. No. 3,892,148.

Grippers with spinning means according to the prior art typically takeup a lot of space and have a limited possibility of rotational andtranslational movement. The gripping means and the spinning means areoften driven via separate input shafts that take up space and limit thepotential freedom of movement of the gripper. Grippers according to theprior art are also typically provided with a plurality of cables, wiresetc. to provide sufficient power and control of the gripper, such cablesand wires are also limiting the freedom of movement and constituting apotential security risk in explosion-exposed areas, such as on adrilling rig.

In US 2009/0277308 A, an open-faced rod-spinning device configured formaking and/or breaking joints between threaded drill rods is disclosed.The rod-spinning device includes a drive gear with an open face, thedrive gear being coupled to a plurality of drive pins. The rod-spinningdevice further includes a carriage assembly including an open lace forreceiving and rotating about a drill rod. The carriage assemblyincluding a plurality of gripping lobes adapted to be engaged androtated by the drive pins about pivot pins. The drive gear is adapted torotate relative to the carriage assembly in order to engage and rotatethe gripping lobes.

GB 638,635 A discloses the use of a differential coupling means forconnecting one input shaft to two different means of pipe handlingequipment.

BRIEF SUMMARY OF THE DISCLOSURE

In a first aspect, the present disclosure relates to a gripper forgripping and spinning a pipe body, the gripper comprising:

a rotatable input shaft;

gripping means for gripping said pipe body; and

spinning means for spinning said pipe body while it is being gripped bysaid gripping means, wherein the gripper further comprises a couplingmeans for connecting said rotatable input shaft to said gripping meansand to said spinning means and for selectively engaging either one ofsaid gripping means and said spinning means while disengaging the otherone of said gripping means and said spinning means.

In one exemplary embodiment, said coupling means may comprise adifferential coupling means. A differential coupling means in the formof a differential gear may allow one rotatable input shaft to be used tooperate both the gripping means and the spinning means. The power fromthe rotatable input shaft may thus be distributed in what may beregarded as two branches, wherein one branch provides power to thegripping means, whereas the other branch provides power to the spinningmeans. The gripper may be adapted to operate one of the branches at atime, for instance by selectively locking one of the branches of thedifferential coupling as will be described more in detail below, and inthe figures.

In another embodiment, the coupling means may comprise a clutching meansfor selectively engaging and disengaging said gripping means and saidspinning means. The selective engagement of said gripping means and saidspinning means may, for instance, be realized by means of twointeracting clutches.

In certain embodiments described herein, one and the same tool, thegripper, may be used both to grip and spin pipe bodies. At the sametime, the one rotatable input shaft ensures that the gripper may beconnected to a conveying means, such as a robot, while still allowingfor full rotational and translational freedom for the gripper. Thegripper of this embodiment is, at the same time, very compact and easilyhandled.

In one disclosed embodiment, the gripper may further comprise brakingmeans for engaging said differential coupling means so as to selectivelyprevent said gripping means and said spinning means from being operatedupon rotating said rotatable input shaft. This may be advantageous so asto disable one of the two functionalities, i.e. gripping or spinning,while enabling the other functionality. In some embodiments, the brakingmeans may engage one of the two branches of the differential couplingmeans at time, and the braking means may comprise one brake or it maycomprise several independently operatable brakes. The brakes may be ofan electromechanical type. In some embodiments, where the coupling meanscomprises clutching means, one clutch may replace the differential gearitself, while one clutch may replace a brake connected to one of thebranches.

In one exemplary embodiment, the gripper may comprise inductive couplingmeans for receiving wireless power and/or communication from an externalsource. This means that power and communication may be transferredwirelessly from an external source, such that the gripper may beconnected to and operated from an external component, a conveying means,without the need for wired and cabled connections. This may also makepossible the use of a gripper of an exemplary embodiment inexplosion-exposed areas, i.e. to EX certify the gripper. It may thus beadvantageous if electronic components in the gripper are provided in anencapsulated chamber of the gripper, such as in an oil-filled chamber.The communication from the source to the gripper may be bi-directional,also enabling feedback from the gripper.

In an exemplary embodiment, said inductive coupling means may beconnected to said differential coupling means for selectively engagingsaid gripping means and said spinning means. The power and communicationtransferred to the gripper may for instance be utilized to engage ordisengage the above-mentioned braking means so as to choose whichfunction, gripping or spinning, to use. The data communication may bebi-directional. In one disclosed embodiment, the inductive couplingmeans may be such as developed and offered by the Norwegian companyWireless Power and Communication (WPC). Reference is made to WPC'sEuropean patent no. 1741113 for an in-depth description of wirelesspower and data communication transfer.

The spinning means may be one or more active rollers, though the presentdisclosure is not to be construed as limited to rollers as manyalternative spinning means, such as various circulating endless beltsand chains, may also be used.

In an exemplary embodiment, gearing means, connecting said activerollers to said differential coupling means, may be provided inside saidone or more active rollers. This may be advantageous for providingsufficient gearing for the rollers while at the same time savingsignificant space in the gripper, implying that the gripper may be madeeven more compact and thus becomes even more easily handled.

In an embodiment, the gripping means may be provided with one or morepassive rollers. This may be advantageous for ensuring smooth,substantially friction-less spinning of a pipe body while it is beingheld by the gripper.

In an embodiment, the gripping means may be adapted to securely holdpipes of different diameters. This may be realized by providing thegripper with gripping means as disclosed in U.S. Pat. No. 8,419,097assigned to the present applicant and incorporated herein by thisreference. Alternatively, the possibility of securely gripping pipes ofdifferent diameters may also be realized by supporting gripping arms ofthe gripping means in eccentric bearings as disclosed in WO 2013/036134A2 which is also incorporated herein by the reference.

In an embodiment, the gripper may further comprise connecting means forselectively connecting said gripper to a gripper conveying means. Theconnection means may connect the gripper input shaft to an output shafton the conveying means, as well as provide an interface between thegripper and the gripper conveying means. The connection means maycomprise a connection flange.

In an embodiment, the gripper may be provided with biasing means forbiasing the gripping means towards a pipe body or for biasing the pipebody towards the gripping means also when the gripping functionality isdisabled, for instance when the pipe body is being held and movedincluding when the spinning functionality is enabled. This will ensure agood grip around the pipe body also when the gripping functionality isdisabled, such as when a braking means locks the gripping function. Inat least one embodiment, the biasing means may be a torsion spring orthe like directly or indirectly connected to the gripping means. Thetorsion spring may be included in a gearing stage connecting therotatable input shaft to the gripping means. Alternatively, the biasingmeans may be connected to the spinning means, such as the activerollers, so as to bias the spinning means towards the pipe body.

In a second aspect, the present disclosure relates to a system forgripping, moving and spinning a pipe body, the system comprising:

a gripper according to the first aspect of the present disclosure; and

a gripper conveying means provided with a rotatable output shaftconnectable to said rotatable input shaft of the gripper.

The conveying means may thus be used to move the gripper on an operationsite, such as on a rig floor. It may be used to move the gripper betweena storage location for pipe bodies and a well centre. In particular, theone rotatable input shaft, which is connectable to a rotatable outputshaft on the gripper conveying means may allow for a full translationaland rotational freedom for the gripper on the gripper conveying means.The gripper conveying means may thus be a robot, including one with aplurality of joints and rotation axes and with translational freedom.The system may be provided with a control unit for operating the gripperand the gripper conveying means automatically or semi-automatically. Thecontrol unit may be provided internally or externally from the gripperconveying means.

In an exemplary embodiment of the system, the gripper conveying meansmay be provided with inductive coupling means for transferring powerand/or communication to said gripper. The communication may bebi-directional. Typically, inductive coupling means on the gripper maybe brought into proximity with the inductive coupling means on thegripper conveying means upon connecting the rotatable input shaft on thegripper to the rotatable output shaft of the gripper conveying means soas to allow for wireless transfer of power and/or communication betweenthe gripper and the gripper conveying means. The connection between thegripper and the gripper conveying means may thus include a rotatableshaft but without the need for any wires, cables, etc., which may bebeneficial for ensuring freedom of rotation and translation as well asfor making the system explosion (EX) proof, for instance allowing use ofthe system in areas where there is a danger of gas ignition. Electroniccomponents of the gripper may be provided in an encapsulated chamber asdiscussed above. The interface between the gripper and the gripperconveying means may thus be provided as a sealed flange covering theshaft connection and the inductive coupling means.

There is also described a drilling rig provided with a system accordingto the second aspect of the present disclosure.

In a third aspect, the present disclosure relates to a method forgripping, moving and spinning a pipe body by means of a system accordingto the second aspect of the present disclosure, the method comprisingthe steps of:

connecting said rotatable output shaft of the gripper conveying means tosaid rotatable input shaft on said gripper;

selectively engaging said gripping means so as to grip a pipe body; and

selectively engaging said spinning means so as to spin said pipe body.

The method may further comprise the step of moving said pipe body from astorage location to an operation location by means of said gripperconveying means.

The operation location may be over a well centre.

The method may further comprise the step of spinning the pipe body so asto connect or disconnect said pipe body to or from a pipe string. Afterthe pipe body has been connected to a pipe string, the method may alsocomprise the steps of:

selectively engaging said gripping means so as to release said pipe bodyfrom the gripper; and

disconnecting said rotatable output shaft of the gripper conveying meansfrom said rotatable input shaft of the gripper.

Thus, the gripper conveying means may selectively disconnect from thegripper. The gripper conveying means may, for instance, place thegripper in a tool magazine. From the tool magazine, the gripperconveying means may connect to another gripper or it may even connect toa completely different tool adapted to perform a different operation.The connection means, i.e. the connection interface between the gripperconveying means and the gripper may be standardized so that a pluralityof different tools may be connectable to the gripper conveying means.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments are illustrated in the accompanying drawings,wherein:

FIG. 1 shows, in a perspective view, a gripper according to the presentdisclosure;

FIG. 2 shows, in a top view, the gripper from FIG. 1;

FIG. 3 shows, in a side view, the gripper from FIG. 1;

FIG. 4 shows, in a cross-sectional view, the gripper as seen through theline A-A from FIG. 2;

FIG. 5 shows, in a cross-sectional view, the gripper as seen through theline B-B from FIG. 2;

FIG. 6 shows, in a cross-sectional view, the gripper as seen through theline C-C from FIG. 3;

FIG. 7 shows, in a cross-sectional view, the gripper as seen through theline D-D from FIG. 3;

FIG. 8 shows, in a cross-sectional view, the gripper as seen through theline F-F from FIG. 2;

FIG. 9 shows, in a cross-sectional view, the gripper as seen through theline E-E from FIG. 3;

FIG. 10 shows, in a top view, the gripper from FIG. 1 holding a smalldiameter pipe;

FIG. 11 shows, in a top view, the gripper from FIG. 1 holding a largediameter pipe;

FIG. 12 shows, in a perspective view, a drilling rig comprising a systemaccording to the present disclosure; and

FIG. 13 shows, in a large scale, the system from FIG. 12.

DETAILED DESCRIPTION OF THE DISCLOSED EXEMPLARY EMBODIMENTS

In the following description, identical reference numerals refer tosimilar or identical features. The figures may be shown slightlysimplified and schematic and the different features on the figures arenot necessarily drawn to scale.

FIGS. 1-3 show a gripper 1 according to the present disclosure. Thegripper 1 is provided with a housing 2, to which both gripping means 3and spinning means 5 are connected. In a normal position of use, thehousing 2 covers most of the parts constituting the gripper 1. Theseparts will be visible with reference to the following cross-sectionaldrawings. The gripping means 3 is provided in the form of two sets ofgripping arms 31 a. The gripping arms 31 a are driven by drive arms 31b, rotatable around rotation axes 31 e, and connected by link arms 31 c,the link arms being connected to the gripper housing 2 at a rotationaxis 31 d. The functionality of the gripping means 3, which allowsgripping of pipes and other objects of various diameters, was disclosedin the applicant's own patent U.S. Pat. No. 8,419,097 to which referenceis made for an in-depth description of the gripping means 3. Thespinning means 5 comprises active rollers 51 a, 51 b. When holding apipe body 11, see FIGS. 10 and 11, in the gripping arms 31 a, trackrings 51 c on the active rollers 51 a, 51 b will engage the pipe body 11so that the pipe body 11 is spun with the active rollers 51 a, 51 b. Thegripping arms 31 a are further provided with passive rollers 34 in orderto ease the rotation of a pipe body 11 held in the gripper arms 31 a.The gripper 1 is provided with a flanged interface 23 forming aconnecting means for a conveying means 14, see FIGS. 12 and 13, as willbe described more in detail below with reference to the followingfigures. FIGS. 2 and 3 show the gripper 1 in a top view and in a sideview, respectively.

Reference is now made to FIGS. 4-9, which are various cross-sectionstaken from FIGS. 2 and 3. An input shaft 9, with shaft connection 91, isconnected to a differential coupling means 6, which will be described inthe following. The input shaft 9 is connected to a first differentialgear 6 a further connected to a differential spider gear 6 c which inturn is connected to a differential housing 6 d and to seconddifferential gear 6 d, as can be best seen in FIGS. 5 and 6. Thedifferential coupling means 6 divides input power from the rotatableinput shaft 9 into what may be described as two branches, wherein onebranch provides the gripping function while the other branch providesthe spinning function. In the shown embodiment, the gripping function isactivated upon rotation of the differential housing 6, while thespinning function is activated by rotation of the second differentialgear 6 d. For transferring the power as effectively as possible, thegripper 1 is provided with breaking means 7 selectively disabling one ofthe two branches so that the input power may be supplied to either thegripping means 3 or to the spinning means 5. In the shown embodiment thebreaking means 7 comprises a first break 7 a in the form of anelectromechanical holding brake and a second brake 7 b in the form of asolenoid actuator, see FIG. 8, both energizable and controllable viainductive coupling means 13 as will be described more in detail below.For activating the gripping means 3, the inductive coupling means 13will energize the holding brake 7 a to prevent the second differentialgear 6 b from rotating thereby disabling the spinning function. As thesecond differential gear 6 b is blocked, the first differential gear 6 aand the spider gear 6 c will set the differential housing 6 d inrotation, if possible. The solenoid actuator 7 b, which is best seen inFIG. 8, pulls a lever arm 77 connected to a ratchet mechanism 73. Theratchet mechanism 73, when energized by the solenoid actuator 7 b, isfreed from its engagement with a ratchet wheel 71, thus allowing theratchet wheel 71 to be rotated. In its idle state, the ratchet 73mechanism is biased by means of a not shown spring so as to prevent theratchet wheel 71 from rotating, thereby disabling the gripping functionas will be explained in the following. The inductive coupling means 13activates the solenoid actuator 7 b, thus allowing the ratchet wheel 71to rotate. The ratchet wheel 71 is connected to a first spur gear 59,the first spur gear further being connected to a second spur gear 59 aand third spur gear 59 b, as best seen in FIGS. 7 and 8. The second spurgear 59 a is connected to a hypoid gear pinion 47 a, the hypoid gearpinion 47 a further being connected to a hypoid gear 48 a, as can bebest seen in FIG. 4. The hypoid gear 48 a is further connected to a sungear 49 a engaged with a planet gear stage 53 a including a stationaryring gear. Finally the planet gear stage 53 a is driving a first driveshaft 55 a, the drive shaft 55 a having an axis of rotation coincidingwith the rotation axis 31 e and the drive shaft being connected to andbeing able to drive the drive arms 31 b for moving the gripper arms 31a. The third spur gear 59 b has similar connections, i.e. driving ahypoid gear pinion 47 b, in turn driving a second drive shaft 55 b. Theabove description describes one embodiment of the mechanisms involvedfor activating the gripping means 3. The gripping force may becontrollable by measuring torque on a motor driving the input shaft 9.The motor may be provided in the gripper conveying means 14 as will bediscussed below.

In a second position of use, typically when a pipe body 11 has alreadybeen gripped by the gripper 1, the spinning means 5 may be activated.The gripping function is then disabled by deactivating the solenoidactuator 7 b. The biasing spring will then force the ratchet mechanism73 into engagement with the ratchet wheel 71, thus locking thedifferential housing 6 d and thereby disabling movement of the grippingarms 31 a. At the same time, the holding brake 7 a is deactivated sothat the second differential gear 6 b becomes free to rotate. The inputshaft 9 is connected to the second differential gear 6 b via the firstdifferential gear 6 a and the differential spider gear 6 c. The seconddifferential gear 6 b is connected to a bevel gear pinion 38, the bevelgear pinion driving a bevel gear shaft 39, as best seen in FIGS. 5 and6. The bevel gear shaft 39 is connected with a first chain wheel 43 aand a second chain wheel 43 b. The first chain 43 a wheel is furtherconnected to a third chain wheel 45 a via a chain 41, as best seen inFIG. 9. The third chain wheel 45 a is connected to a roller sun gear 33a further connected to a plurality of roller planet gears 32 a, as canbe best seen in FIG. 6. The roller planet gears 32 a engage with theactive roller 51 b. The second chain wheel 43 b is similarly connectedto a fourth chain wheel 45 b similarly driving the first active roller51 a, the first and second active rollers 51 a, 51 b constituting thespinning means 5. Each active roller 51 a, 51 b is provided with twotrack rings 51 c held in place by locking nuts 51 d, the track rings 51c providing the necessary friction for a pipe body 11 held in thegripping arms 31 a to be rotated.

FIGS. 10 and 11 show the gripper 1 holding a small diameter pipe 11 anda large diameter pipe 11, respectively. Once again reference is made toU.S. Pat. No. 8,419,097 for an in-depth description of the functionalityof the gripping means 3.

FIGS. 12 and 13 show a drilling rig 27 where a system 10 as describedabove is provided on the rig floor 29. The system 10 comprises aconveying means 14 in the form of a robot, which is best seen in theenlarged view in FIG. 13. The robot 14, which will not be discussed indetail herein, has six rotational axes and is also adapted to betranslated along a track 28 as indicated in the figures. The drillingrig 27 is further provided with a tool magazine 24 provided with aplurality of tools 26, including one or more grippers 1 as describedabove. The robot 14 approaches the tool magazine 24 and connects to thegripper 1. A tool interface 23′ on the robot 14 fits complimentary tothe flanged tool interface 23 on the gripper 1. A rotatable output shaft19 on the robot connects to the shaft connection 91 on the rotatableinput shaft 9 on the gripper 1. Upon connecting the gripper 1 to therobot 14, inductive coupling means 13′ on the robot is brought intoproximity with the inductive coupling means 13 on the gripper, therebyenabling wireless transfer of power and communication to the gripper,and also feedback communication from the gripper 1 to the robot 14. Thetool interfaces 23, 23′ and the rotatable input and output shafts 9, 19constitute the connecting means of the gripper 1 and the robot 14. Theconnecting means is provided as a standardized tool interface allowingthe robot 14 to connect and disconnect to and from each of the tools 26in the tool magazine 24. The rig floor is also provided with a storagearea 22 for pipe bodies 11. The robot 14, connected to the gripper 1, istranslated along the track 28 to approach the storage area 22 to grip apipe body 11. The robot 14 may further move the pipe body 11 on the rigfloor 29, such as to a well centre 20 in order to spin the pipe body 11into a not shown pipe string. It should also be noted that the system 10in the shown embodiment is controllable by means of a control unit 25provided in the robot. The control unit 25 may receive instructions froman operator to have the system perform a certain task, whereby thecontrol unit 25 activates the robot to pick up a preferred tool, whichaccording to this embodiment is a gripper 1. The control unit alsoactivates or deactivates the power supply via the inductive couplingmeans 13, 13′ and the control unit 25 starts and stops a not shown motorprovided in the robot 14 to operate the gripper 1 by rotating therotatable input shaft 9 as described above.

The above-mentioned embodiments illustrate rather than limit the presentdisclosure, and that those skilled in the art will be able to designmany alternative embodiments without departing from the scope of theappended claims. In particular, a person skilled in the art would beable to construct the gearing from the differential coupling means tothe gripping means and to the spinning means in a variety of differentways without departing from the scope of the disclosure. In the claims,any reference signs placed between parentheses shall not be construed aslimiting the claim. Use of the verb “comprise” and its conjugations doesnot exclude the presence of elements or steps other than those stated ina claim. The article “a” or “an” preceding an element does not excludethe presence of a plurality of such elements.

The invention claimed is:
 1. Gripper for gripping and spinning a pipebody, the gripper comprising: gripping means for gripping said pipebody; spinning means for spinning said pipe body while said pipe body isbeing gripped by said gripping means; a rotatable input shaft; and acoupling means for connecting said rotatable input shaft to saidgripping means and to said spinning means and for selectively engagingeither one of said gripping means and said spinning means whiledisengaging the other one of said gripping means and said spinningmeans; wherein, the coupling means comprises a differential couplingmeans; and wherein said gripper further comprises braking meansconfigured to engage said differential coupling means so as toselectively prevent at least one of said gripping means and saidspinning means from being operated upon rotating said rotatable inputshaft.
 2. Gripper according to claim 1, wherein said gripper furthercomprises inductive coupling means for receiving wireless power and/orcommunication from an external source.
 3. Gripper according to claim 2,wherein said inductive coupling means is connected to said couplingmeans for selectively engaging said gripping means and said spinningmeans.
 4. Gripper according to claim 1, wherein said spinning meansincludes one or more active rollers.
 5. Gripper according to claim 4,wherein the one or more active rollers comprise internal gearing means,connecting said one or more active rollers to said coupling means. 6.Gripper according to claim 4, wherein said gripping means is providedwith one or more passive rollers.
 7. Gripper according to claim 1,wherein said gripping means is adapted to securely hold pipes ofdifferent diameters.
 8. Gripper according to claim 1, wherein thegripper further comprises connecting means for selectively connectingsaid gripper to a gripper conveying means.
 9. Gripper according to claim1, further comprising biasing means for biasing said gripping meansrelative to a pipe body.
 10. Gripper according to claim 9, wherein saidbiasing means is a torsion spring.
 11. System for gripping, moving andspinning a pipe body, the system comprising: a gripper according toclaim 1; and a gripper conveying means provided with a rotatable outputshaft connectable to said rotatable input shaft of the gripper. 12.System according to claim 11, wherein the system further comprises acontrol unit for operating said gripper and said gripper conveyingmeans.
 13. System according to claim 11, wherein said conveying means isa robot.
 14. System according to claim 11, wherein said gripperconveying means further comprises an inductive coupling means fortransferring power and/or communication to said gripper.
 15. A drillingrig comprising a system according to claim
 11. 16. Method for gripping,moving and spinning a pipe body using a gripper, the gripper comprising:a gripping means for gripping said pipe body; a spinning means forspinning said pipe body while said pipe body is being gripped by saidgripping means; a rotatable input shaft; and a coupling means forconnecting said rotatable input shaft to said gripping means and to saidspinning means and for selectively engaging either one of said grippingmeans and said spinning means while disengaging the other one of saidgripping means and said spinning means; wherein, the coupling meanscomprises a differential coupling means, and wherein said gripperfurther comprises braking means configured to engage said differentialcoupling means so as to selectively prevent at least one of saidgripping means and said spinning means from being operated upon rotatingsaid rotatable input shaft and a gripper conveying means having arotatable output shaft connectable to said rotatable input shaft of thegripper the method comprising the steps of: connecting said rotatableoutput shaft of the gripper conveying means to said rotatable inputshaft on said gripper; selectively engaging said gripping means so as togrip a pipe body; and selectively engaging said spinning means so as tospin said pipe body.
 17. Method according to claim 16, wherein themethod further comprises the step of: moving said pipe body from astorage location to an operation location by means of said gripperconveying means.
 18. Method according to claim 16, wherein the methodfurther comprises the step of: spinning the pipe body so as to connector disconnect said pipe body to or from a pipe string.
 19. Methodaccording to claim 16, wherein the method further comprises the stepsof: selectively engaging said gripping means so as to release said pipebody from the gripper; and disconnecting said rotatable output shaft ofthe gripper conveying means from said rotatable input shaft of thegripper.